U.S. patent application number 16/538856 was filed with the patent office on 2021-01-14 for patrol method using robot and apparatus and robot thereof.
The applicant listed for this patent is U8TECM ROBOTICS CGRP LTD. Invention is credited to Jiawen Hu, Gaobo Huang, Youjun Xiong.
Application Number | 20210008716 16/538856 |
Document ID | / |
Family ID | 1000004301181 |
Filed Date | 2021-01-14 |
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United States Patent
Application |
20210008716 |
Kind Code |
A1 |
Huang; Gaobo ; et
al. |
January 14, 2021 |
PATROL METHOD USING ROBOT AND APPARATUS AND ROBOT THEREOF
Abstract
The present disclosure provides a patrol method using a robot as
well as an apparatus and a robot thereof. The method includes:
obtaining a preset patrol configuration file and reading a patrol
sequence, a coordinate, and a navigation method of each patrol
point from the patrol configuration file, wherein the patrol
configuration file comprises at least two navigation methods;
obtaining a preset electronic map and obtaining a starting
coordinate of the robot in the electronic map through a
localization equipment; and controlling the robot to move from the
starting coordinate to the coordinate of each patrol point
according to the patrol sequence by navigating the robot using the
navigation method corresponding to the n-th patrol point in the
patrol configuration file during moving the robot to the coordinate
of the n-th patrol point. In comparison with the prior art, which
improves the patrol efficiency of the robot.
Inventors: |
Huang; Gaobo; (Shenzhen,
CN) ; Hu; Jiawen; (Shenzhen, CN) ; Xiong;
Youjun; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
U8TECM ROBOTICS CGRP LTD |
Shenzhen |
|
CN |
|
|
Family ID: |
1000004301181 |
Appl. No.: |
16/538856 |
Filed: |
August 13, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 9/163 20130101;
G05D 1/0274 20130101; B25J 9/1676 20130101; G05D 1/027
20130101 |
International
Class: |
B25J 9/16 20060101
B25J009/16; G05D 1/02 20060101 G05D001/02 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 11, 2019 |
CN |
201910622871.X |
Claims
1. A computer-implemented patrol method using a robot having a
localization equipment, comprising executing on a processor of the
robot steps of: obtaining a preset patrol configuration file and
reading a patrol sequence, a coordinate, and a navigation method of
each patrol point from the patrol configuration file, wherein the
patrol configuration file comprises at least two navigation
methods; obtaining a preset electronic map and obtaining a starting
coordinate of the robot in the electronic map through the
localization equipment; and controlling the robot to move from the
starting coordinate to the coordinate of each patrol point
according to the patrol sequence by navigating the robot using the
navigation method corresponding to the n-th patrol point in the
patrol configuration file during moving the robot to the coordinate
of the n-th patrol point, wherein 1.ltoreq.n.ltoreq.N, and N is an
amount of the patrol point in the patrol configuration file.
2. The method of claim 1, wherein the navigation methods comprise a
free navigation method and a local navigation method.
3. The method of claim 2, wherein if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the free navigation method, the step of navigating the
robot using the navigation method corresponding to the n-th patrol
point in the patrol configuration file comprises: performing a
global path planning to obtain an optimal global path from the
coordinate of the n-1-th patrol point to the coordinate of the n-th
patrol point; and controlling the robot to move according to the
optimal global path, and performing an obstacle avoidance
processing and a partial path planning during the movement to avoid
obstacles on the optimal global path.
4. The method of claim 2, wherein if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the local navigation method, the step of navigating the
robot using the navigation method corresponding to the n-th patrol
point in the patrol configuration file comprises: reading a patrol
direction of each patrol point from the patrol configuration file;
calculating a movement direction of the robot according to the
coordinate of the n-1-th patrol point and the coordinate of the
n-th patrol point; calculating a first rotational angle based on
the patrol direction of the n-1-th patrol point and the movement
direction, and controlling the robot to rotate according to the
first rotational angle such that an orientation of the robot is
consistent with the movement direction; controlling the robot to
move from the coordinate of the n-1-th patrol point to the
coordinate of the n-th patrol point according to the movement
direction; and calculating a second rotational angle according to
the movement direction and the patrol direction of the n-th patrol
point, and controlling the robot to rotate according to the second
rotational angle such that an orientation of the robot is
consistent with the patrol direction of the n-th patrol point.
5. The method of claim 1, wherein after the step of controlling the
robot to move from the starting coordinate to the coordinate of
each patrol point according to the patrol sequence further
comprises: reading patrol operation information of each patrol
point from the patrol configuration file, and controlling the robot
to perform a patrol operation corresponding to the patrol operation
information at each patrol point.
6. A patrol apparatus for a robot having a localization equipment,
comprising: a configuration file obtaining module configured to
obtain a preset patrol configuration file and read a patrol
sequence, a coordinate, and a navigation method of each patrol
point from the patrol configuration file, wherein the patrol
configuration file comprises at least two navigation methods; a
coordinate determining module configured to obtain a preset
electronic map and obtain a starting coordinate of the robot in the
electronic map through the localization equipment; and a motion
patrol module configured to control the robot to move from the
starting coordinate to the coordinate of each patrol point
according to the patrol sequence by navigating the robot using the
navigation method corresponding to the n-th patrol point in the
patrol configuration file during moving the robot to the coordinate
of the n-th patrol point, wherein 1.ltoreq.n.ltoreq.N, and N is an
amount of the patrol point in the patrol configuration file.
7. The apparatus of claim 6, wherein the navigation methods
comprise a free navigation method, if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the free navigation method, the motion patrol module
comprises: a global path planning unit configured to perform a
global path planning to obtain an optimal global path from the
coordinate of the n-1-th patrol point to the coordinate of the n-th
patrol point; and an obstacle avoidance unit configured to control
the robot to move according to the optimal global path, and
performing an obstacle avoidance processing and a partial path
planning during the movement to avoid obstacles on the optimal
global path.
8. The apparatus of claim 6, wherein the navigation methods
comprise a local navigation method, if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the local navigation method, the motion patrol module
comprises: a patrol direction reading unit configured to read a
patrol direction of each patrol point from the patrol configuration
file; a movement direction calculating unit configured to calculate
a movement direction of the robot according to the coordinate of
the n-1-th patrol point and the coordinate of the n-th patrol
point; a first rotation unit configured to calculating a first
rotational angle based on the patrol direction of the n-1-th patrol
point and the movement direction, and controlling the robot to
rotate according to the first rotational angle such that an
orientation of the robot coincides with the movement direction; a
movement control unit configured to control the robot to move from
the coordinate of the n-1-th patrol point to the coordinate of the
n-th patrol point according to the movement direction; and a second
rotation unit configured to calculate a second rotational angle
according to the movement direction and the patrol direction of the
n-th patrol point, and controlling the robot to rotate according to
the second rotational angle such that an orientation of the robot
coincides with the patrol direction of the n-th patrol point.
9. The apparatus of claim 6, wherein after the step of controlling
the robot to move from the starting coordinate to the coordinate of
each patrol point according to the patrol sequence further
comprises: a patrol operation module configured to read patrol
operation information of each patrol point from the patrol
configuration file, and control the robot to perform a patrol
operation corresponding to the patrol operation information at each
patrol point.
10. A robot, comprising: a localization equipment; a memory; a
processor; and one or more computer programs stored in the memory
and executable on the processor, wherein the one or more computer
programs comprise: instructions for obtaining a preset patrol
configuration file and reading a patrol sequence, a coordinate, and
a navigation method of each patrol point from the patrol
configuration file, wherein the patrol configuration file comprises
at least two navigation methods; instructions for obtaining a
preset electronic map and obtaining a starting coordinate of the
robot in the electronic map through the localization equipment; and
instructions for controlling the robot to move from the starting
coordinate to the coordinate of each patrol point according to the
patrol sequence by navigating the robot using the navigation method
corresponding to the n-th patrol point in the patrol configuration
file during moving the robot to the coordinate of the n-th patrol
point, wherein 1.ltoreq.n.ltoreq.N, and N is an amount of the
patrol point in the patrol configuration file.
11. The robot of claim 10, wherein the navigation methods comprise
a free navigation method and a local navigation method.
12. The robot of claim 11, wherein if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the free navigation method, the instructions for navigating
the robot using the navigation method corresponding to the n-th
patrol point in the patrol configuration file comprise:
instructions for performing a global path planning to obtain an
optimal global path from the coordinate of the n-1-th patrol point
to the coordinate of the n-th patrol point; and instructions for
controlling the robot to move according to the optimal global path,
and performing an obstacle avoidance processing and a partial path
planning during the movement to avoid obstacles on the optimal
global path.
13. The robot of claim 11, wherein if the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the local navigation method, the instructions for
navigating the robot using the navigation method corresponding to
the n-th patrol point in the patrol configuration file comprise:
instructions for reading a patrol direction of each patrol point
from the patrol configuration file; instructions for calculating a
movement direction of the robot according to the coordinate of the
n-1-th patrol point and the coordinate of the n-th patrol point;
instructions for calculating a first rotational angle based on the
patrol direction of the n-1-th patrol point and the movement
direction, and controlling the robot to rotate according to the
first rotational angle such that an orientation of the robot is
consistent with the movement direction; instructions for
controlling the robot to move from the coordinate of the n-1-th
patrol point to the coordinate of the n-th patrol point according
to the movement direction; and instructions for calculating a
second rotational angle according to the movement direction and the
patrol direction of the n-th patrol point, and controlling the
robot to rotate according to the second rotational angle such that
an orientation of the robot is consistent with the patrol direction
of the n-th patrol point.
14. The robot of claim 10, wherein the one or more computer
programs further comprise: instructions for reading patrol
operation information of each patrol point from the patrol
configuration file, and controlling the robot to perform a patrol
operation corresponding to the patrol operation information at each
patrol point.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to Chinese Patent
Application No. 20191062287.X, filed Jul. 11, 2019, which is hereby
incorporated by reference herein as if set forth in its
entirety.
BACKGROUND
1. Technical Field
[0002] The present disclosure relates to robot technology, and
particularly to a patrol method using a robot as well as an
apparatus and a robot thereof.
2. Description of Related Art
[0003] In the prior art, a robot can be used to patrol the places
such as a power control system room and a railway integrated
control system room. The current patrol method using a robot
generally adopts a single free navigation method. However, because
the free navigation method involves continuous global planning and
continuous local planning, it will take much time in each planning,
and the larger the map, the longer the time will take, for example,
for a map of one thousand square meters, the time for global
planning may take 4-5 seconds or more, and the patrol efficiency of
the robot is low.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] To describe the technical schemes in the embodiments of the
present disclosure more clearly, the following briefly introduces
the drawings required for describing the embodiments or the prior
art. Apparently, the drawings in the following description merely
show some examples of the present disclosure. For those skilled in
the art, other drawings can be obtained according to the drawings
without creative efforts.
[0005] FIG. 1 is a flow chart of a patrol method using a robot
according to an embodiment of the present disclosure.
[0006] FIG. 2 is a schematic diagram of an example of a usage
scenario of the method of FIG. 1.
[0007] FIG. 3 is a flow chart of an example of patrolling using a
local navigation method in the method of FIG. 1.
[0008] FIG. 4 is a schematic diagram of an example of patrolling
using a local navigation method in the method of FIG. 1.
[0009] FIG. 5 is a schematic diagram of an example of a patrol
process of a robot in the method of FIG. 1.
[0010] FIG. 6 is a schematic block diagram of a patrol apparatus
according to an embodiment of the present disclosure.
[0011] FIG. 7 is a schematic block diagram of a robot according to
an embodiment of the present disclosure.
DETAILED DESCRIPTION
[0012] In order to make the object, the features and the advantages
of the present disclosure more obvious and easy to understand, the
technical solutions in the embodiments of the present disclosure
will be clearly and completely described below in conjunction with
the accompanying drawings in the embodiments of the present
disclosure. It should be noted that, the described embodiments are
only a part of the embodiments of the present disclosure, instead
of all of the embodiments. All other embodiments obtained by those
who skilled in the art based on the embodiments of the present
disclosure without creative efforts are within the scope of the
present disclosure.
[0013] FIG. is a flow chart of a patrol method using a robot
according to an embodiment of the present disclosure. In this
embodiment, a patrol method using a robot for a robot having a
localization equipment is provided. The method is a
computer-implemented method executable for a processor, which may
be implemented through and applied to a patrol system shown in FIG.
2, a patrol apparatus shown in FIG. 6, or a robot shown in FIG. 7,
or implemented through a computer readable storage medium. As shown
in FIG. 1, the method includes the following steps.
[0014] S101: obtaining a preset patrol configuration file and
reading a patrol sequence, a coordinate, and a navigation method of
each patrol point from the patrol configuration file.
[0015] In which, the patrol configuration file includes at least
two navigation methods, which include but are not limited to a free
navigation method and a local navigation method.
[0016] FIG. 2 is a schematic diagram of an example of a usage
scenario of the method of FIG. 1. As shown in FIG. 2, in this usage
scenario, a patrol system 200 includes a patrol management terminal
201 and a robot 202 for performing patrols. The patrol management
terminal 201 may be a computing device such as a mobile phone, a
tablet, a desktop computer, a laptop computer, a pocket PC
(personal computer), or a cloud server. The patrol configuration
file is stored in the patrol management terminal 201, and its
content may be set according to actual needs.
[0017] In this embodiment, the robot 202 is the main body to
implement the patrol method. When the patrol is to be performed,
the patrol management terminal 201 can issue a patrol instruction
to the robot 202, and the robot 202 can perform the patrol process
after receiving the patrol instruction.
[0018] The robot 202 can obtain the patrol configuration file from
the patrol management terminal 201, and read the patrol sequence,
the coordinate, and the navigation method of each patrol point from
the patrol configuration file. The number of the patrol points may
be set according to actual needs. In this embodiment, the total
number of patrol points in the patrol configuration file is marked
as N.
[0019] S102: obtaining a preset electronic map and obtaining a
starting coordinate of the robot in the electronic map through the
localization equipment.
[0020] The electronic map may be stored in a storage medium (e.g.,
a hard disk or a flash card) of the robot in advance, or may be
obtained by the robot from the patrol management terminal 201.
After importing the electronic map, the robot can determine its
starting coordinate in the electronic map by a localization method
through the localization equipment such as a laser sensor or a UWB
(ultra-wideband) tag. The localization method may be any one of the
localization methods commonly used in the prior art such as AMCL
(adaptive Monte Carlo localization) or UWB localization, which is
not limited herein.
[0021] S103: controlling the robot to move from the starting
coordinate to the coordinate of each patrol point according to the
patrol sequence.
[0022] In which, in the process of moving the robot to the
coordinate of the n-th patrol point, the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is used for navigation, where 1.ltoreq.n.ltoreq.N.
[0023] In the case that the navigation method corresponding to the
n-th patrol point in the patrol configuration file is the free
navigation method, a global path planning can be first performed to
obtain an optimal global path from the coordinate of the n-1-th
patrol point to the coordinate of the n-th patrol point, where the
starting coordinate can be taken as a special patrol point, that
is, the 0-th patrol point. After obtaining the optimal global path,
the robot can be controlled to move according to the optimal global
path, and perform an obstacle avoidance processing and a partial
path planning during the movement to avoid obstacles on the optimal
global path.
[0024] FIG. 3 is a flow chart of an example of patrolling using a
local navigation method in the method of FIG. 1. In the case that
the navigation method corresponding to the n-th patrol point in the
patrol configuration file is the local navigation method, the
navigation can be performed by the method shown in FIG. 3. As shown
in FIG. 3, the method includes the following steps.
[0025] S1031: reading a patrol direction of each patrol point from
the patrol configuration file.
[0026] The patrol direction is a direction in which a front side of
the robot orients when the robot is at the patrol point. For
example, if the robot has to check whether the working state of a
certain instrument is normal at a certain patrol point, the patrol
direction of the patrol point should be set to a direction facing
the instrument.
[0027] In this embodiment, for the sake of simplicity, the
direction can be expressed as a two-dimensional vector. For
example, the patrol direction of the n-th patrol point can be
expressed as: (dirX.sub.n, dirY.sub.n).
[0028] S1032: calculating a movement direction of the robot
according to the coordinate of the n-1-th patrol point and the
coordinate of the n-th patrol point.
[0029] Herein, the coordinate of the n-1-th patrol point is marked
as (x.sub.n-1, y.sub.n-1), and the coordinate of the n-th patrol
point is marked as (x.sub.n, y.sub.n), then the movement direction
of the robot can be expressed as (x.sub.n-x.sub.n-1,
y.sub.n-y.sub.n-1).
[0030] S1033: calculating a first rotational angle based on the
patrol direction of the n-1-th patrol point and the movement
direction, and controlling the robot to rotate according to the
first rotational angle such that an orientation of the robot is
consistent with the movement direction.
[0031] In which, the first rotational angle can be calculated based
on the following formula:
cos .PHI. 1 = ( x n - x n - 1 ) .times. dirX n - 1 + ( y n - y n -
1 ) .times. dir Y n - 1 ( x n - x n - 1 ) 2 + ( y n - y n - 1 ) 2
.times. dir X n - 1 2 + dir Y n - 1 2 ; ##EQU00001##
[0032] where, .phi.1 is the first rotational angle. After the first
rotational angle is obtained, the robot can be controlled to rotate
according to the first rotational angle such that the orientation
of the robot is consistent with (e.g., the same as) the movement
direction.
[0033] S1034: controlling the robot to move from the coordinate of
the n-1-th patrol point to the coordinate of the n-th patrol point
according to the movement direction.
[0034] FIG. 4 is a schematic diagram of an example of patrolling
using a local navigation method in the method of FIG. 1. As shown
in FIG. 4, the moving distance dis of the robot can be calculated
based on the following formula:
dis= {square root over
((x.sub.n-x.sub.n-1).sup.2+(y.sub.n-y.sub.n-1).sup.2)};
[0035] where, dis is the moving distance of the robot.
[0036] S1035: calculating a second rotational angle according to
the movement direction and the patrol direction of the n-th patrol
point, and controlling the robot to rotate according to the second
rotational angle such that the orientation of the robot is
consistent with the patrol direction of the n-th patrol point.
[0037] In which, the second angle can be calculated based on the
following formula:
cos .PHI. 2 = ( x n - x n - 1 ) .times. dir X n + ( y n - y n - 1 )
.times. dir Y n ( x n - x n - 1 ) 2 + ( y n - y n - 1 ) 2 .times.
dir X n 2 + dir Y n 2 ; ##EQU00002##
[0038] where, .phi.2 is the second rotational angle. As shown in
FIG. 4, after the first rotational angle is obtained, the robot can
be controlled to rotate according to the second rotational angle
such that the orientation of the robot is consistent with (e.g.,
the same as) the patrol direction of the n-th patrol point.
[0039] FIG. 5 is a schematic diagram of an example of a patrol
process of a robot in the method of FIG. 1. As shown in FIG. 5, a
working map of the robot is generated by scanning through a radar
of the robot. In the patrol process of the robot, the robot on the
map is moved from the current position to the patrol points
including point_00, point_01, point_02, and point_03 successively
based on the patrol configuration file to perform a patrol, where
the distance between the above-mentioned points of point_00,
point_01, point_02, and point_03 points is relatively short which
usually less than 1 meter. In FIG. 5, the movement from the current
position to point_00 is a long-distance movement, and the
environment during the movement is relatively complicated, hence it
is necessary to use global navigation and mobile planning, and the
free navigation method based on path planning is used. Since the
patrol points of point_00, point_01, point_02, point_03 are close,
and the environment during the movement is relatively simple, the
local navigation method is used so that the time for calculation
and planning will not be too long.
[0040] Furthermore, after controlling the robot to move from the
starting coordinate to the coordinate of each patrol point
according to the patrol sequence, patrol operation information of
each patrol point can be read from the patrol configuration file,
and the robot can be controlled to perform a corresponding patrol
operation at each patrol point. The patrol operation information
may include, but is not limited to, need shoot recognition or not,
the height of a lifting rod when shooting, angle and focal length
of the camera, or the like. The robot performs corresponding patrol
operations such as checking whether the working state of the
instrument of each patrol point is normal or whether there is fire
alarm information, based on the information.
[0041] In summary, in this embodiment, it no longer uses a single
free navigation method, but uses at least two navigation methods in
combination and configures the patrol configuration file according
to the actual situation in advance. When the robot needs to perform
patrols, the patrol configuration file can be first obtained, and
the patrol sequence, the coordinate, and the navigation method of
each patrol point are read therefrom. Then, it obtains the preset
electronic map, obtains the starting coordinate of the robot in the
electronic map through the localization equipment, controls the
robot to move from the starting coordinate to the coordinate of
each patrol point according to the patrol sequence by navigating
the robot using the navigation method corresponding to the n-th
patrol point in the patrol configuration file during moving the
robot to the coordinate of the n-th patrol point, where
1.ltoreq.n.ltoreq.N, and N is an amount of the patrol point in the
patrol configuration file. In this way, a plurality of navigation
methods can be used in combination. In comparison with the prior
art that uses a single free navigation method, which greatly saves
time consumption and improves the patrol efficiency of the
robot.
[0042] It should be understood that, the sequence of the serial
number of the steps in the above-mentioned embodiments does not
mean the execution order while the execution order of each process
should be determined by its function and internal logic, which
should not be taken as any limitation to the implementation process
of the embodiments.
[0043] FIG. 6 is a schematic block diagram of a patrol apparatus
according to an embodiment of the present disclosure, which
corresponds to the patrol method of the above-mentioned
embodiments. In this embodiment, a patrol apparatus 600 for a robot
having a localization equipment is provided. The patrol apparatus
600 can be applied to the robot 202 of the patrol system shown in
FIG. 2 or a robot shown in FIG. 7, or be the robot itself. As shown
in FIG. 6, in this embodiment, a patrol apparatus 600 may
include:
[0044] a configuration file obtaining module 601 configured to
obtain a preset patrol configuration file and read a patrol
sequence, a coordinate, and a navigation method of each patrol
point from the patrol configuration file, where the patrol
configuration file includes at least two navigation methods;
[0045] a coordinate determining module 602 configured to obtain a
preset electronic map and obtain a starting coordinate of the robot
in the electronic map through the localization equipment; and
[0046] a motion patrol module 603 configured to control the robot
to move from the starting coordinate to the coordinate of each
patrol point according to the patrol sequence by navigating the
robot using the navigation method corresponding to the n-th patrol
point in the patrol configuration file during moving the robot to
the coordinate of the n-th patrol point, where 1.ltoreq.n.ltoreq.N,
and N is an amount of the patrol point in the patrol configuration
file.
[0047] Furthermore, the navigation methods may include a free
navigation method and a local navigation method. In the case that
the navigation method corresponding to the n-th patrol point in the
patrol configuration file is the free navigation method, the motion
patrol module 603 includes:
[0048] a global path planning unit configured to perform a global
path planning to obtain an optimal global path from the coordinate
of the n-1-th patrol point to the coordinate of the n-th patrol
point; and
[0049] an obstacle avoidance unit configured to control the robot
to move according to the optimal global path, and performing an
obstacle avoidance processing and a partial path planning during
the movement to avoid obstacles on the optimal global path.
[0050] Furthermore, in the case that the navigation method
corresponding to the n-th patrol point in the patrol configuration
file is the local navigation method, the motion patrol module 603
includes:
[0051] a patrol direction reading unit configured to read a patrol
direction of each patrol point from the patrol configuration
file;
[0052] a movement direction calculating unit configured to
calculate a movement direction of the robot according to the
coordinate of the n-1-th patrol point and the coordinate of the
n-th patrol point;
[0053] a first rotation unit configured to calculating a first
rotational angle based on the patrol direction of the n-1-th patrol
point and the movement direction, and controlling the robot to
rotate according to the first rotational angle such that an
orientation of the robot coincides with the movement direction;
[0054] a movement control unit configured to control the robot to
move from the coordinate of the n-1-th patrol point to the
coordinate of the n-th patrol point according to the movement
direction; and
[0055] a second rotation unit configured to calculate a second
rotational angle according to the movement direction and the patrol
direction of the n-th patrol point, and controlling the robot to
rotate according to the second rotational angle such that an
orientation of the robot coincides with the patrol direction of the
n-th patrol point.
[0056] Furthermore, the patrol apparatus 600 may further
include:
[0057] a patrol operation module configured to read patrol
operation information of each patrol point from the patrol
configuration file, and control the robot to perform a patrol
operation corresponding to the patrol operation information at each
patrol point.
[0058] In this embodiment, each of the above-mentioned
modules/units is implemented in the form of software, which can be
computer program(s) stored in a memory of the patrol apparatus 600
and executable on a processor of the patrol apparatus 600. In other
embodiments, each of the above-mentioned modules/units may be
implemented in the form of hardware (e.g., a circuit of the patrol
apparatus 600 which is coupled to the processor of the patrol
apparatus 600) or a combination of hardware and software (e.g., a
circuit with a single chip microcomputer).
[0059] Those skilled in the art can clearly understand that, for
the convenience and brevity of the description, the details of the
working process of the above-mentioned apparatus, module, and unit
can refer to the corresponding process in the above-mentioned
method embodiment, which are not described herein.
[0060] In the above-mentioned embodiments, the description of each
embodiment has its focuses, and the parts which are not described
or mentioned in one embodiment may refer to the related
descriptions in other embodiments.
[0061] FIG. 7 is a schematic block diagram of a robot according to
an embodiment of the present disclosure. As shown in FIG. 7, in
this embodiment, the robot 7 includes a processor 70, a memory 71,
a computer program 72 stored in the memory 71 and executable on the
processor 70, and a localization equipment 73. When executing
(instructions in) the computer program 72, the processor 70
implements the steps in the above-mentioned embodiments of the
patrol method using a robot, for example, steps S101-S103 shown in
FIG. 1. Alternatively, when the processor 70 executes the
(instructions in) computer program 72, the functions of each
module/unit in the above-mentioned device embodiments, for example,
the functions of the modules 601-603 shown in FIG. 6 are
implemented. The robot 7 may further include a radar that can
generate the working map of FIG. 5 by scanning.
[0062] Exemplarily, the computer program 72 may be divided into one
or more modules/units, and the one or more modules/units are stored
in the storage 71 and executed by the processor 70 to realize the
present disclosure. The one or more modules/units may be a series
of computer program instruction sections capable of performing a
specific function, and the instruction sections are for describing
the execution process of the computer program 72 in the robot
7.
[0063] It can be understood by those skilled in the art that FIG. 7
is merely an example of the robot 7 and does not constitute a
limitation on the robot 7, and may include more or fewer components
than those shown in the figure, or a combination of some components
or different components. For example, the robot 7 may further
include an input/output device, a network access device, a bus, and
the like.
[0064] The processor 70 may be a central processing unit (CPU), or
be other general purpose processor, a digital signal processor
(DSP), an application specific integrated circuit (ASIC), a
field-programmable gate array (FPGA), or be other programmable
logic device, a discrete gate, a transistor logic device, and a
discrete hardware component. The general purpose processor may be a
microprocessor, or the processor may also be any conventional
processor.
[0065] The storage 71 may be an internal storage unit of the robot
7, for example, a hard disk or a memory of the robot 7. The storage
71 may also be an external storage device of the robot 7, for
example, a plug-in hard disk, a smart media card (SMC), a secure
digital (SD) card, flash card, and the like, which is equipped on
the robot 7. Furthermore, the storage 71 may further include both
an internal storage unit and an external storage device, of the
robot 7. The storage 71 is configured to store the computer program
72 and other programs and data required by the robot 7. The storage
71 may also be used to temporarily store data that has been or will
be output.
[0066] Those skilled in the art may clearly understand that, for
the convenience and simplicity of description, the division of the
above-mentioned functional units and modules is merely an example
for illustration. In actual applications, the above-mentioned
functions may be allocated to be performed by different functional
units according to requirements, that is, the internal structure of
the device may be divided into different functional units or
modules to complete all or part of the above-mentioned functions.
The functional units and modules in the embodiments may be
integrated in one processing unit, or each unit may exist alone
physically, or two or more units may be integrated in one unit. The
above-mentioned integrated unit may be implemented in the form of
hardware or in the form of software functional unit. In addition,
the specific name of each functional unit and module is merely for
the convenience of distinguishing each other and are not intended
to limit the scope of protection of the present disclosure. For the
specific operation process of the units and modules in the
above-mentioned system, reference may be made to the corresponding
processes in the above-mentioned method embodiments, and are not
described herein.
[0067] In the above-mentioned embodiments, the description of each
embodiment has its focuses, and the parts which are not described
or mentioned in one embodiment may refer to the related
descriptions in other embodiments.
[0068] Those ordinary skilled in the art may clearly understand
that, the exemplificative units and steps described in the
embodiments disclosed herein may be implemented through electronic
hardware or a combination of computer software and electronic
hardware. Whether these functions are implemented through hardware
or software depends on the specific application and design
constraints of the technical schemes. Those ordinary skilled in the
art may implement the described functions in different manners for
each particular application, while such implementation should not
be considered as beyond the scope of the present disclosure.
[0069] In the embodiments provided by the present disclosure, it
should be understood that the disclosed apparatus/robot and method
may be implemented in other manners. For example, the
above-mentioned apparatus/robot embodiment is merely exemplary. For
example, the division of modules or units is merely a logical
functional division, and other division manner may be used in
actual implementations, that is, multiple units or components may
be combined or be integrated into another system, or some of the
features may be ignored or not performed. In addition, the shown or
discussed mutual coupling may be direct coupling or communication
connection, and may also be indirect coupling or communication
connection through some interfaces, devices or units, and may also
be electrical, mechanical or other forms.
[0070] The units described as separate components may or may not be
physically separated. The components represented as units may or
may not be physical units, that is, may be located in one place or
be distributed to multiple network units. Some or all of the units
may be selected according to actual needs to achieve the objectives
of this embodiment.
[0071] In addition, each functional unit in each of the embodiments
of the present disclosure may be integrated into one processing
unit, or each unit may exist alone physically, or two or more units
may be integrated in one unit. The above-mentioned integrated unit
may be implemented in the form of hardware or in the form of
software functional unit.
[0072] When the integrated module/unit is implemented in the form
of a software functional unit and is sold or used as an independent
product, the integrated module/unit may be stored in a
non-transitory computer-readable storage medium. Based on this
understanding, all or part of the processes in the method for
implementing the above-mentioned embodiments of the present
disclosure are implemented, and may also be implemented by
instructing relevant hardware through a computer program. The
computer program may be stored in a non-transitory
computer-readable storage medium, which may implement the steps of
each of the above-mentioned method embodiments when executed by a
processor. In which, the computer program includes computer program
codes which may be the form of source codes, object codes,
executable files, certain intermediate, and the like. The
computer-readable medium may include any primitive or device
capable of carrying the computer program codes, a recording medium,
a USB flash drive, a portable hard disk, a magnetic disk, an
optical disk, a computer memory, a read-only memory (ROM), a random
access memory (RAM), electric carrier signals, telecommunication
signals and software distribution media. It should be noted that
the content contained in the computer readable medium may be
appropriately increased or decreased according to the requirements
of legislation and patent practice in the jurisdiction. For
example, in some jurisdictions, according to the legislation and
patent practice, a computer readable medium does not include
electric carrier signals and telecommunication signals.
[0073] The above-mentioned embodiments are merely intended for
describing but not for limiting the technical schemes of the
present disclosure. Although the present disclosure is described in
detail with reference to the above-mentioned embodiments, it should
be understood by those skilled in the art that, the technical
schemes in each of the above-mentioned embodiments may still be
modified, or some of the technical features may be equivalently
replaced, while these modifications or replacements do not make the
essence of the corresponding technical schemes depart from the
spirit and scope of the technical schemes of each of the
embodiments of the present disclosure, and should be included
within the scope of the present disclosure.
* * * * *